Internal model based framework for tracking and fault tolerant control of a permanent magnet synchronous motor

Authors:	Gentili Luca, CASY-DEIS-University of Bologna, Italy Bonivento Claudio, CASY-DEIS-University of Bologna, Italy Paoli Andrea, CASY-DEIS-University of Bologna, Italy
Topic:	2.1 Control Design
Session:	Control of Mechanical and Flexible Systems
Keywords:	Internal model based control, port-Hamiltonian systems, fault tolerant control, permanent magnet synchronous motor

Abstract

In this paper an adaptive internal model based control scheme is designed to deal with tracking and input disturbance suppression problems for a permanent magnet synchronous motor. More in detail we show how to design a controller able to guarantee the perfect asymptotic tracking of unknown exogenous trajectories belonging to a certain family, embedding in the regulator the internal model of this family; the theoretical machinery exploited in order to prove the global asymptotical stability of the solution exposed is the nonlinear output regulation theory, specialized for the energy-based port-Hamiltonian formalism.